From 30467b44cd82973576c8073136dede6aa2fa60f0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 6 Aug 2024 21:39:18 -0700
Subject: [PATCH 1/5] pre-commit: bring back some checks (#33196)

* add this

* add this

* nice ...

* 120

* remove

* no remote

* 0

* this

* no submodules

* like this

* try this

* validate

* like this

* split

* pass files

* no par

* check exist

* no build

* fix

* 24.04

* default

* test failure

* continue

* actually fail

* clean

* import

* fix

* line

* mypy

* clean

* simpler

* final

* better

* final clean

* not true
---
 .github/workflows/selfdrive_tests.yaml | 26 +++++++----
 pyproject.toml                         |  8 +++-
 scripts/lint.sh                        | 64 ++++++++++++++++++++++++--
 uv.lock                                | 49 ++++++++++++++++++++
 4 files changed, 133 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 8c46e15c2f..b0dbfbebee 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,13 +61,20 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: static analysis
+    - name: Getting modified files
+      timeout-minutes: 1
+      run: |
+        cd $GITHUB_WORKSPACE
+        git fetch --unshallow --recurse-submodules=no origin master:master
+        ALL_FILES=$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))
+        echo FILES=$(echo $ALL_FILES) >> $GITHUB_ENV
+    - name: Static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh"
+        ${{ env.RUN }} "scripts/lint.sh $FILES"
 
   build:
     strategy:
@@ -140,16 +147,17 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    env:
+      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: static analysis
+    - name: Setup
+      run: tools/op.sh setup
+    - name: Get ancestor commit
+      run: git fetch --unshallow --recurse-submodules=no origin master:master
+    - name: Static analysis
       timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint.sh"
+      run: tools/op.sh lint
 
   unit_tests:
     name: unit tests
diff --git a/pyproject.toml b/pyproject.toml
index 24ec80e787..56eafc954b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,6 +88,7 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
+  "pre-commit-hooks",
 ]
 
 dev = [
@@ -177,9 +178,11 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
-  "body/",
   "cereal/",
+  "msgq/",
+  "msgq_repo/",
   "opendbc/",
+  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -204,6 +207,9 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
+local_partial_types=true
+explicit_package_bases=true
+
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index 3da79f62f4..d766961cd1 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,11 +1,67 @@
 #!/bin/bash
 set -e
 
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-# TODO: bring back rest of pre-commit checks:
-# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+FAILED=0
+
+IGNORED_FILES="uv\.lock|docs\/CARS.md"
+
+function run() {
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$(echo "$@" | sed -E "s/$IGNORED_FILES//g")
+  PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
+
+  if [[ -n "$PYTHON_FILES" ]]; then
+    run "ruff" ruff check $PYTHON_FILES --quiet
+    run "mypy" mypy $PYTHON_FILES
+    run "Import check" lint-imports
+  fi
+
+  if [[ -n "$ALL_FILES" ]]; then
+    run "Codespell" codespell $ALL_FILES
+    run "Large files check" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
+    run "Shebang check" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
+  fi
+
+  return $FAILED
+}
 
-ruff check .
-lint-imports
+if [[ -n $@ ]]; then
+  VALID_FILES=""
+  for f in $@; do
+    if [[ -f "$f" ]]; then
+      VALID_FILES+="$f"$'\n'
+    fi
+  done
+  run_tests "$VALID_FILES"
+else
+  run_tests "$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))"
+fi
diff --git a/uv.lock b/uv.lock
index bca0895ebf..b5a734f300 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,6 +1454,7 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1637,6 +1638,18 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
+[[distribution]]
+name = "pre-commit-hooks"
+version = "4.6.0"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/95/d8/d09b270248bc2441f966dd094a3de8ae813112d2687036f621202bdef80b/pre_commit_hooks-4.6.0-py2.py3-none-any.whl", hash = "sha256:a69199e6a2d45ec59c1020a81ca1549abddc2afb798276d9a0d951752d6abbfe", size = 41193 },
+]
+
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -4882,6 +4895,42 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
+[[distribution]]
+name = "ruamel-yaml"
+version = "0.18.6"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/73/67/8ece580cc363331d9a53055130f86b096bf16e38156e33b1d3014fffda6b/ruamel.yaml-0.18.6-py3-none-any.whl", hash = "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636", size = 117761 },
+]
+
+[[distribution]]
+name = "ruamel-yaml-clib"
+version = "0.2.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/46/ab/bab9eb1566cd16f060b54055dd39cf6a34bfa0240c53a7218c43e974295b/ruamel.yaml.clib-0.2.8.tar.gz", hash = "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512", size = 213824 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/b1/15/971b385c098e8d0d170893f5ba558452bb7b776a0c90658b8f4dd0e3382b/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069", size = 148870 },
+    { url = "https://files.pythonhosted.org/packages/01/b0/4ddef56e9f703d7909febc3a421d709a3482cda25826816ec595b73e3847/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248", size = 134475 },
+    { url = "https://files.pythonhosted.org/packages/a4/f7/22d6b620ed895a05d40802d8281eff924dc6190f682d933d4efff60db3b5/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:25c515e350e5b739842fc3228d662413ef28f295791af5e5110b543cf0b57d9b", size = 544020 },
+    { url = "https://files.pythonhosted.org/packages/7c/e4/0d19d65e340f93df1c47f323d95fa4b256bb28320290f5fddef90837853a/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_24_aarch64.whl", hash = "sha256:1707814f0d9791df063f8c19bb51b0d1278b8e9a2353abbb676c2f685dee6afe", size = 642643 },
+    { url = "https://files.pythonhosted.org/packages/c9/ff/f781eb5e2ae011e586d5426e2086a011cf1e0f59704a6cad1387975c5a62/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:46d378daaac94f454b3a0e3d8d78cafd78a026b1d71443f4966c696b48a6d899", size = 695832 },
+    { url = "https://files.pythonhosted.org/packages/e3/41/f62e67ac651358b8f0d60cfb12ab2daf99b1b69eeaa188d0cec809d943a6/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:09b055c05697b38ecacb7ac50bdab2240bfca1a0c4872b0fd309bb07dc9aa3a9", size = 730923 },
+    { url = "https://files.pythonhosted.org/packages/9f/f0/19ab8acbf983cd1b37f47d27ceb8b10a738d60d36316a54bad57e0d73fbb/ruamel.yaml.clib-0.2.8-cp311-cp311-win32.whl", hash = "sha256:53a300ed9cea38cf5a2a9b069058137c2ca1ce658a874b79baceb8f892f915a7", size = 99999 },
+    { url = "https://files.pythonhosted.org/packages/ec/54/d8a795997921d87224c65d44499ca595a833093fb215b133f920c1062956/ruamel.yaml.clib-0.2.8-cp311-cp311-win_amd64.whl", hash = "sha256:c2a72e9109ea74e511e29032f3b670835f8a59bbdc9ce692c5b4ed91ccf1eedb", size = 118008 },
+    { url = "https://files.pythonhosted.org/packages/7a/a2/eb5e9d088cb9d15c24d956944c09dca0a89108ad6e2e913c099ef36e3f0d/ruamel.yaml.clib-0.2.8-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:ebc06178e8821efc9692ea7544aa5644217358490145629914d8020042c24aa1", size = 144636 },
+    { url = "https://files.pythonhosted.org/packages/66/98/8de4f22bbfd9135deb3422e96d450c4bc0a57d38c25976119307d2efe0aa/ruamel.yaml.clib-0.2.8-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:edaef1c1200c4b4cb914583150dcaa3bc30e592e907c01117c08b13a07255ec2", size = 135684 },
+    { url = "https://files.pythonhosted.org/packages/30/d3/5fe978cd01a61c12efd24d65fa68c6f28f28c8073a06cf11db3a854390ca/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d176b57452ab5b7028ac47e7b3cf644bcfdc8cacfecf7e71759f7f51a59e5c92", size = 734571 },
+    { url = "https://files.pythonhosted.org/packages/55/b3/e2531a050758b717c969cbf76c103b75d8a01e11af931b94ba656117fbe9/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_24_aarch64.whl", hash = "sha256:1dc67314e7e1086c9fdf2680b7b6c2be1c0d8e3a8279f2e993ca2a7545fecf62", size = 643946 },
+    { url = "https://files.pythonhosted.org/packages/0d/aa/06db7ca0995b513538402e11280282c615b5ae5f09eb820460d35fb69715/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:3213ece08ea033eb159ac52ae052a4899b56ecc124bb80020d9bbceeb50258e9", size = 692169 },
+    { url = "https://files.pythonhosted.org/packages/27/38/4cf4d482b84ecdf51efae6635cc5483a83cf5ca9d9c13e205a750e251696/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:aab7fd643f71d7946f2ee58cc88c9b7bfc97debd71dcc93e03e2d174628e7e2d", size = 740325 },
+    { url = "https://files.pythonhosted.org/packages/6f/67/c62c6eea53a4feb042727a3d6c18f50dc99683c2b199c06bd2a9e3db8e22/ruamel.yaml.clib-0.2.8-cp312-cp312-win32.whl", hash = "sha256:5c365d91c88390c8d0a8545df0b5857172824b1c604e867161e6b3d59a827eaa", size = 98639 },
+    { url = "https://files.pythonhosted.org/packages/10/d2/52a3d810d0b5b3720725c0504a27b3fced7b6f310fe928f7019d79387bc1/ruamel.yaml.clib-0.2.8-cp312-cp312-win_amd64.whl", hash = "sha256:1758ce7d8e1a29d23de54a16ae867abd370f01b5a69e1a3ba75223eaa3ca1a1b", size = 115305 },
+]
+
 [[distribution]]
 name = "rubicon-objc"
 version = "0.4.9"

From 3af774725f568ab2289fed92b820e89929950136 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 6 Aug 2024 21:48:56 -0700
Subject: [PATCH 2/5] Revert "pre-commit: bring back some checks (#33196)"
 (#33216)

This reverts commit 30467b44cd82973576c8073136dede6aa2fa60f0.
---
 .github/workflows/selfdrive_tests.yaml | 26 ++++-------
 pyproject.toml                         |  8 +---
 scripts/lint.sh                        | 64 ++------------------------
 uv.lock                                | 49 --------------------
 4 files changed, 14 insertions(+), 133 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b0dbfbebee..8c46e15c2f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -61,20 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: Getting modified files
-      timeout-minutes: 1
-      run: |
-        cd $GITHUB_WORKSPACE
-        git fetch --unshallow --recurse-submodules=no origin master:master
-        ALL_FILES=$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))
-        echo FILES=$(echo $ALL_FILES) >> $GITHUB_ENV
-    - name: Static analysis
+    - name: static analysis
       timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "scripts/lint.sh $FILES"
+        ${{ env.RUN }} "scripts/lint.sh"
 
   build:
     strategy:
@@ -147,17 +140,16 @@ jobs:
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
                    ((github.event_name != 'pull_request') ||
                     (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
-    env:
-      PYTHONWARNINGS: default
     steps:
     - uses: actions/checkout@v4
-    - name: Setup
-      run: tools/op.sh setup
-    - name: Get ancestor commit
-      run: git fetch --unshallow --recurse-submodules=no origin master:master
-    - name: Static analysis
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: static analysis
       timeout-minutes: 1
-      run: tools/op.sh lint
+      run: ${{ env.RUN }} "scripts/lint.sh"
 
   unit_tests:
     name: unit tests
diff --git a/pyproject.toml b/pyproject.toml
index 56eafc954b..24ec80e787 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -88,7 +88,6 @@ testing = [
   "pytest-repeat",
   "ruff",
   "codespell",
-  "pre-commit-hooks",
 ]
 
 dev = [
@@ -178,11 +177,9 @@ plugins = [
   "numpy.typing.mypy_plugin",
 ]
 exclude = [
+  "body/",
   "cereal/",
-  "msgq/",
-  "msgq_repo/",
   "opendbc/",
-  "opendbc_repo/",
   "panda/",
   "rednose/",
   "rednose_repo/",
@@ -207,9 +204,6 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
-local_partial_types=true
-explicit_package_bases=true
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
diff --git a/scripts/lint.sh b/scripts/lint.sh
index d766961cd1..3da79f62f4 100755
--- a/scripts/lint.sh
+++ b/scripts/lint.sh
@@ -1,67 +1,11 @@
 #!/bin/bash
 set -e
 
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-NC='\033[0m'
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR/../
 
-FAILED=0
-
-IGNORED_FILES="uv\.lock|docs\/CARS.md"
-
-function run() {
-  echo -en "$1"
-
-  for ((i=0; i<$((50 - ${#1})); i++)); do
-    echo -n "."
-  done
-
-  shift 1;
-  CMD="$@"
-
-  set +e
-  log="$((eval "$CMD" ) 2>&1)"
-
-  if [[ $? -eq 0 ]]; then
-    echo -e "[${GREEN}✔${NC}]"
-  else
-    echo -e "[${RED}✗${NC}]"
-    echo "$log"
-    FAILED=1
-  fi
-  set -e
-}
-
-function run_tests() {
-  ALL_FILES=$(echo "$@" | sed -E "s/$IGNORED_FILES//g")
-  PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
-
-  if [[ -n "$PYTHON_FILES" ]]; then
-    run "ruff" ruff check $PYTHON_FILES --quiet
-    run "mypy" mypy $PYTHON_FILES
-    run "Import check" lint-imports
-  fi
-
-  if [[ -n "$ALL_FILES" ]]; then
-    run "Codespell" codespell $ALL_FILES
-    run "Large files check" python3 -m pre_commit_hooks.check_added_large_files --enforce-all $ALL_FILES --maxkb=120
-    run "Shebang check" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
-  fi
-
-  return $FAILED
-}
+# TODO: bring back rest of pre-commit checks:
+# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
 
-if [[ -n $@ ]]; then
-  VALID_FILES=""
-  for f in $@; do
-    if [[ -f "$f" ]]; then
-      VALID_FILES+="$f"$'\n'
-    fi
-  done
-  run_tests "$VALID_FILES"
-else
-  run_tests "$(git diff --name-only --cached --diff-filter=AM $(git merge-base HEAD master))"
-fi
+ruff check .
+lint-imports
diff --git a/uv.lock b/uv.lock
index b5a734f300..bca0895ebf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1454,7 +1454,6 @@ testing = [
     { name = "hypothesis", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "import-linter", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "mypy", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-    { name = "pre-commit-hooks", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-asyncio", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
     { name = "pytest-cov", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
@@ -1638,18 +1637,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
-[[distribution]]
-name = "pre-commit-hooks"
-version = "4.6.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ruamel-yaml", marker = "python_version == '3.11' or python_version >= '3.12' or (python_version < '3.12' and (python_version < '3.11' or python_version > '3.11'))" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/83/0d/b4e97cd99b26c0cd8265c9f19ee7e55248142f0c9955e4d119de96fa4a13/pre_commit_hooks-4.6.0.tar.gz", hash = "sha256:eb1f43ee67869cd41b4c59017fad4a0f9d4d61201d163f2135535aaf65035a2b", size = 29579 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/95/d8/d09b270248bc2441f966dd094a3de8ae813112d2687036f621202bdef80b/pre_commit_hooks-4.6.0-py2.py3-none-any.whl", hash = "sha256:a69199e6a2d45ec59c1020a81ca1549abddc2afb798276d9a0d951752d6abbfe", size = 41193 },
-]
-
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -4895,42 +4882,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/8c/28/92423fe9673b738c180fb5b6b8ea4203fe4b02c1d20b06b7fae79d11cc24/rerun_sdk-0.17.0-cp38-abi3-win_amd64.whl", hash = "sha256:34e5595a326cbdddfebdf00b08e877358c564fce74cc8c6d617fc89ef3a6aa70", size = 29490986 },
 ]
 
-[[distribution]]
-name = "ruamel-yaml"
-version = "0.18.6"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "ruamel-yaml-clib", marker = "python_version < '3.13' and platform_python_implementation == 'CPython'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/29/81/4dfc17eb6ebb1aac314a3eb863c1325b907863a1b8b1382cdffcb6ac0ed9/ruamel.yaml-0.18.6.tar.gz", hash = "sha256:8b27e6a217e786c6fbe5634d8f3f11bc63e0f80f6a5890f28863d9c45aac311b", size = 143362 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/73/67/8ece580cc363331d9a53055130f86b096bf16e38156e33b1d3014fffda6b/ruamel.yaml-0.18.6-py3-none-any.whl", hash = "sha256:57b53ba33def16c4f3d807c0ccbc00f8a6081827e81ba2491691b76882d0c636", size = 117761 },
-]
-
-[[distribution]]
-name = "ruamel-yaml-clib"
-version = "0.2.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/46/ab/bab9eb1566cd16f060b54055dd39cf6a34bfa0240c53a7218c43e974295b/ruamel.yaml.clib-0.2.8.tar.gz", hash = "sha256:beb2e0404003de9a4cab9753a8805a8fe9320ee6673136ed7f04255fe60bb512", size = 213824 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b1/15/971b385c098e8d0d170893f5ba558452bb7b776a0c90658b8f4dd0e3382b/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:bef08cd86169d9eafb3ccb0a39edb11d8e25f3dae2b28f5c52fd997521133069", size = 148870 },
-    { url = "https://files.pythonhosted.org/packages/01/b0/4ddef56e9f703d7909febc3a421d709a3482cda25826816ec595b73e3847/ruamel.yaml.clib-0.2.8-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:b16420e621d26fdfa949a8b4b47ade8810c56002f5389970db4ddda51dbff248", size = 134475 },
-    { url = "https://files.pythonhosted.org/packages/a4/f7/22d6b620ed895a05d40802d8281eff924dc6190f682d933d4efff60db3b5/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:25c515e350e5b739842fc3228d662413ef28f295791af5e5110b543cf0b57d9b", size = 544020 },
-    { url = "https://files.pythonhosted.org/packages/7c/e4/0d19d65e340f93df1c47f323d95fa4b256bb28320290f5fddef90837853a/ruamel.yaml.clib-0.2.8-cp311-cp311-manylinux_2_24_aarch64.whl", hash = "sha256:1707814f0d9791df063f8c19bb51b0d1278b8e9a2353abbb676c2f685dee6afe", size = 642643 },
-    { url = "https://files.pythonhosted.org/packages/c9/ff/f781eb5e2ae011e586d5426e2086a011cf1e0f59704a6cad1387975c5a62/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:46d378daaac94f454b3a0e3d8d78cafd78a026b1d71443f4966c696b48a6d899", size = 695832 },
-    { url = "https://files.pythonhosted.org/packages/e3/41/f62e67ac651358b8f0d60cfb12ab2daf99b1b69eeaa188d0cec809d943a6/ruamel.yaml.clib-0.2.8-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:09b055c05697b38ecacb7ac50bdab2240bfca1a0c4872b0fd309bb07dc9aa3a9", size = 730923 },
-    { url = "https://files.pythonhosted.org/packages/9f/f0/19ab8acbf983cd1b37f47d27ceb8b10a738d60d36316a54bad57e0d73fbb/ruamel.yaml.clib-0.2.8-cp311-cp311-win32.whl", hash = "sha256:53a300ed9cea38cf5a2a9b069058137c2ca1ce658a874b79baceb8f892f915a7", size = 99999 },
-    { url = "https://files.pythonhosted.org/packages/ec/54/d8a795997921d87224c65d44499ca595a833093fb215b133f920c1062956/ruamel.yaml.clib-0.2.8-cp311-cp311-win_amd64.whl", hash = "sha256:c2a72e9109ea74e511e29032f3b670835f8a59bbdc9ce692c5b4ed91ccf1eedb", size = 118008 },
-    { url = "https://files.pythonhosted.org/packages/7a/a2/eb5e9d088cb9d15c24d956944c09dca0a89108ad6e2e913c099ef36e3f0d/ruamel.yaml.clib-0.2.8-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:ebc06178e8821efc9692ea7544aa5644217358490145629914d8020042c24aa1", size = 144636 },
-    { url = "https://files.pythonhosted.org/packages/66/98/8de4f22bbfd9135deb3422e96d450c4bc0a57d38c25976119307d2efe0aa/ruamel.yaml.clib-0.2.8-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:edaef1c1200c4b4cb914583150dcaa3bc30e592e907c01117c08b13a07255ec2", size = 135684 },
-    { url = "https://files.pythonhosted.org/packages/30/d3/5fe978cd01a61c12efd24d65fa68c6f28f28c8073a06cf11db3a854390ca/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d176b57452ab5b7028ac47e7b3cf644bcfdc8cacfecf7e71759f7f51a59e5c92", size = 734571 },
-    { url = "https://files.pythonhosted.org/packages/55/b3/e2531a050758b717c969cbf76c103b75d8a01e11af931b94ba656117fbe9/ruamel.yaml.clib-0.2.8-cp312-cp312-manylinux_2_24_aarch64.whl", hash = "sha256:1dc67314e7e1086c9fdf2680b7b6c2be1c0d8e3a8279f2e993ca2a7545fecf62", size = 643946 },
-    { url = "https://files.pythonhosted.org/packages/0d/aa/06db7ca0995b513538402e11280282c615b5ae5f09eb820460d35fb69715/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:3213ece08ea033eb159ac52ae052a4899b56ecc124bb80020d9bbceeb50258e9", size = 692169 },
-    { url = "https://files.pythonhosted.org/packages/27/38/4cf4d482b84ecdf51efae6635cc5483a83cf5ca9d9c13e205a750e251696/ruamel.yaml.clib-0.2.8-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:aab7fd643f71d7946f2ee58cc88c9b7bfc97debd71dcc93e03e2d174628e7e2d", size = 740325 },
-    { url = "https://files.pythonhosted.org/packages/6f/67/c62c6eea53a4feb042727a3d6c18f50dc99683c2b199c06bd2a9e3db8e22/ruamel.yaml.clib-0.2.8-cp312-cp312-win32.whl", hash = "sha256:5c365d91c88390c8d0a8545df0b5857172824b1c604e867161e6b3d59a827eaa", size = 98639 },
-    { url = "https://files.pythonhosted.org/packages/10/d2/52a3d810d0b5b3720725c0504a27b3fced7b6f310fe928f7019d79387bc1/ruamel.yaml.clib-0.2.8-cp312-cp312-win_amd64.whl", hash = "sha256:1758ce7d8e1a29d23de54a16ae867abd370f01b5a69e1a3ba75223eaa3ca1a1b", size = 115305 },
-]
-
 [[distribution]]
 name = "rubicon-objc"
 version = "0.4.9"

From ba7a60c5a20c5f252bc89ba3e2559edf5ab65c59 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 7 Aug 2024 02:05:32 -0500
Subject: [PATCH 3/5] remove CAN capnp conversion from car interfaces (#33218)

remove pandad from interfaces
---
 .importlinter                      | 1 -
 selfdrive/car/card.py              | 4 ++--
 selfdrive/car/interfaces.py        | 6 ++----
 selfdrive/car/tests/test_models.py | 8 ++++----
 4 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/.importlinter b/.importlinter
index f2d1d4f2b0..e510ee91fb 100644
--- a/.importlinter
+++ b/.importlinter
@@ -38,7 +38,6 @@ ignore_imports =
     openpilot.selfdrive.car.ecu_addrs -> openpilot.common.params
     # requires generic CAN send/receive functions
     openpilot.selfdrive.car.ecu_addrs -> openpilot.selfdrive.pandad
-    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.isotp_parallel_query -> openpilot.selfdrive.pandad
     openpilot.selfdrive.car.tests.test_fw_fingerprint -> openpilot.selfdrive.pandad
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index e878a14c31..a8afa0dec9 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -12,7 +12,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
 
-from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -108,7 +108,7 @@ class Car:
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC_prev, can_strs)
+    CS = self.CI.update(self.CC_prev, can_capnp_to_list(can_strs))
 
     self.sm.update(0)
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 90d50f0903..68f7f1ec24 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -16,7 +16,6 @@ from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
 from openpilot.selfdrive.controls.lib.events import Events
-from openpilot.selfdrive.pandad import can_capnp_to_list
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -229,12 +228,11 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
     # parse can
-    can_list = can_capnp_to_list(can_strings)
     for cp in self.can_parsers:
       if cp is not None:
-        cp.update_strings(can_list)
+        cp.update_strings(can_packets)
 
     # get CarState
     ret = self._update(c)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 22a80f359a..f57def0362 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -217,7 +217,7 @@ class TestCarModelBase(unittest.TestCase):
     CC = car.CarControl.new_message().as_reader()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((msg.as_builder().to_bytes(),)))
       self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
@@ -358,7 +358,7 @@ class TestCarModelBase(unittest.TestCase):
       can = messaging.new_message('can', 1)
       can.can = [log.CanData(address=address, dat=dat, src=bus)]
 
-      CS = self.CI.update(CC, (can.to_bytes(),))
+      CS = self.CI.update(CC, can_capnp_to_list((can.to_bytes(),)))
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -397,7 +397,7 @@ class TestCarModelBase(unittest.TestCase):
 
     # warm up pass, as initial states may be different
     for can in self.can_msgs[:300]:
-      self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
@@ -407,7 +407,7 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     card = Car(CI=self.CI)
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(CC, (can.as_builder().to_bytes(), ))
+      CS = self.CI.update(CC, can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
         to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)

From 184519834c99291ddbaa0f92842bda3ab89d797d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 7 Aug 2024 16:02:09 -0700
Subject: [PATCH 4/5] more codespell errors (#33223)

more spell
---
 .github/workflows/ci_weekly_report.yaml | 6 +++---
 pyproject.toml                          | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index 22b8745872..9821283cb5 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -58,14 +58,14 @@ jobs:
               const jobName = job.name.split(" / ")[2];
               const runRegex = /\((.*?)\)/;
               const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
               switch (job.conclusion) {
                 case "success":
                   report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
                 case "failure":
                   report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "cancelled":
-                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+                case "canceled":
+                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
               }
             });
             return JSON.stringify({"jobs": report});
diff --git a/pyproject.toml b/pyproject.toml
index 24ec80e787..b311a854dc 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -167,7 +167,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, ./selfdrive/ui/translations/*.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
 

From 51bd3682148ce7a00ac76281d76c278716a1c24a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 7 Aug 2024 18:12:00 -0500
Subject: [PATCH 5/5] make_can_msg: returns tuple (#33222)

* bump

* make_man_msg returns tuple

* fix CI.update typing

* bump

* better name

* Revert "better name"

This reverts commit 4deb38d4ed99e43721960f69da1dd46a1069eb42.

* common
---
 opendbc_repo                          |  2 +-
 selfdrive/car/__init__.py             |  6 ++++--
 selfdrive/car/interfaces.py           | 10 +++++-----
 selfdrive/car/isotp_parallel_query.py |  4 ++--
 selfdrive/pandad/pandad_api_impl.pyx  |  4 ++--
 5 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 1e9f853615..f4d077b832 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 1e9f8536151818f08af2ddd478f577f8461af31d
+Subproject commit f4d077b832d46ac149c2b07dc37d777dc21237ea
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 1da53d4cfa..fa69b75e9f 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -12,6 +12,8 @@ from panda.python.uds import SERVICE_TYPE
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 from openpilot.selfdrive.car.helpers import clip, interp
 
+CanMsgType = tuple[int, bytes, int]
+
 # set up logging
 carlog = logging.getLogger('carlog')
 carlog.setLevel(logging.INFO)
@@ -193,8 +195,8 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   return friction
 
 
-def make_can_msg(addr, dat, bus):
-  return [addr, dat, bus]
+def make_can_msg(addr: int, dat: bytes, bus: int) -> CanMsgType:
+  return addr, dat, bus
 
 
 def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 68f7f1ec24..f02990f6b5 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -11,7 +11,8 @@ from functools import cache
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
-from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
+from openpilot.selfdrive.car import CanMsgType, DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, \
+                                    STD_CARGO_KG
 from openpilot.selfdrive.car.conversions import Conversions as CV
 from openpilot.selfdrive.car.helpers import clip
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -51,7 +52,6 @@ class LatControlInputs(NamedTuple):
   aego: float
 
 
-SendCan = tuple[int, bytes, int]
 TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
 
 
@@ -108,7 +108,7 @@ class CarInterfaceBase(ABC):
     dbc_name = "" if self.cp is None else self.cp.dbc_name
     self.CC: CarControllerBase = CarController(dbc_name, CP)
 
-  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     return self.CC.update(c, self.CS, now_nanos)
 
   @staticmethod
@@ -228,7 +228,7 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_packets: list[int, list[int, bytes, int]]) -> car.CarState:
+  def update(self, c: car.CarControl, can_packets: list[tuple[int, list[CanMsgType]]]) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
@@ -467,7 +467,7 @@ class CarControllerBase(ABC):
     self.frame = 0
 
   @abstractmethod
-  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
+  def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[CanMsgType]]:
     pass
 
 
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index c5f74a8156..cb7a1da7fa 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -3,7 +3,7 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car import carlog, CanMsgType
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
@@ -27,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list)
+    self.msg_buffer: dict[int, list[CanMsgType]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index 8a12e1c433..787968f53e 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -50,7 +50,7 @@ def can_capnp_to_list(strings, msgtype='can'):
   cdef vector[CanData].iterator it = data.begin()
   while it != data.end():
     d = &deref(it)
-    frames = [[f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src] for f in d.frames]
-    result.append([d.nanos, frames])
+    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
+    result.append((d.nanos, frames))
     preinc(it)
   return result